cmake_minimum_required(VERSION 3.8)
project(planner_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)

find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_util REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# 设置头文件路径
include_directories(include)

############ test ###########
add_executable(a_star src/a_star.cpp)
add_executable(dijkstra src/dijkstra.cpp)
add_executable(map_publisher src/map_publisher.cpp)
ament_target_dependencies(map_publisher rclcpp nav_msgs geometry_msgs)
add_executable(test_node src/test_node.cpp)
ament_target_dependencies(test_node "rclcpp" "nav2_util" "rclcpp_lifecycle")
# 安装规则
install(TARGETS
a_star
dijkstra
map_publisher
test_node
  DESTINATION lib/${PROJECT_NAME})
#############################

ament_package()
